SitToStand/ContactEventHandling.scilab File Reference

Handling of lift-off and impact events. More...


Functions

rets ContactEventHandling (type t, type x, type Events, type OldState)
 Handling of lift-off and impact events.


Detailed Description

Handling of lift-off and impact events.

Author:
Pierre-Brice Wieber
Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications: $Log$ Revision 1.3 2005/05/04 13:13:15 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:17 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:08:25 rpissard version start HuMAnS


Function Documentation

rets ContactEventHandling ( type  t,
type  x,
type  Events,
type  OldState 
)

Handling of lift-off and impact events.

Parameters:
t (float) time
x (float vector, size = 2*NDOF + 2*Nmuscles) system state $x = (q, \dot{q}, z)$
Events (boolean vector, size = NCONTACTS) events of lift-off and impacts
OldState (boolean vector, size = NCONTACTS) old contact state
Returns:
Newx (float vector, size = 2*NDOF + 2*Nmuscles) new system state $x = (q, \dot{q}, z)$

NewState (boolean vector, size = NCONTACTS) new contact state

WarmStart (boolean)

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Generated on Tue Mar 6 14:12:05 2007 for HuMAnS by doxygen 1.4.7